US12268641B2 - Moving device - Google Patents

Moving device Download PDF

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US12268641B2
US12268641B2 US18/270,756 US202218270756A US12268641B2 US 12268641 B2 US12268641 B2 US 12268641B2 US 202218270756 A US202218270756 A US 202218270756A US 12268641 B2 US12268641 B2 US 12268641B2
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wheel
moving device
wheels
escalator
contact
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US20240293274A1 (en
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Hiroshi Nakano
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Lifehub Inc
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Lifehub Inc
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
    • A61G5/041—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven having a specific drive-type
    • A61G5/046—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven having a specific drive-type at least three driven wheels
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
    • A61G5/061—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps for climbing stairs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00—General characteristics of devices
    • A61G2203/30—General characteristics of devices characterised by sensor means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00—General characteristics of devices
    • A61G2203/30—General characteristics of devices characterised by sensor means
    • A61G2203/36—General characteristics of devices characterised by sensor means for motion
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00—General characteristics of devices
    • A61G2203/30—General characteristics of devices characterised by sensor means
    • A61G2203/38—General characteristics of devices characterised by sensor means for torque
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00—General characteristics of devices
    • A61G2203/30—General characteristics of devices characterised by sensor means
    • A61G2203/44—General characteristics of devices characterised by sensor means for weight
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
    • Y02B50/00—Energy efficient technologies in elevators, escalators and moving walkways, e.g. energy saving or recuperation technologies

Definitions

  • Patent Literature 1 a stair ascending/descending-type moving vehicle
  • Patent Literature 2 a two-legged moving device
  • Patent Literature 3 a bipedal-type moving mechanism
  • an escalator has a speed difference at a boundary between a step and a boarding/landing area thereof. Accordingly, in order to allow the moving device to get on or off the escalator, it is required to take measures to prevent a moving object from dropping or falling out due to vibrations or impacts caused by this speed difference.
  • the present invention has been made in view of the above-mentioned circumstances, and has an object to provide and achieve a moving device capable of absorbing the speed difference, thereby being capable of safely getting on and off an escalator while having a moving object loaded thereon.
  • the wheel speed of the end-portion wheel is controlled. In this manner, the speed difference between the boarding area and the step or between the landing area and the step can be absorbed, and hence the moving device can safely get on and off the escalator while having the moving object loaded thereon.
  • FIG. 1 ( a ) is a front view for illustrating an example of a moving device according to the present invention
  • FIG. 1 ( b ) is a side view of a state of climbing one step of stairs.
  • FIG. 2 is a functional block diagram for illustrating an example of the moving device according to the present invention.
  • FIG. 7 ( a ) , FIG. 7 ( b ) , and FIG. 7 ( c ) are control explanatory views of the posture in the front-rear direction in the case of climbing the stairs.
  • FIG. 9 ( a ) , FIG. 9 ( b ) , FIG. 9 ( c ) , and FIG. 9 ( d ) are control explanatory views of the posture in the right-left direction in the case of climbing the stairs.
  • FIG. 10 is a flow chart for illustrating an example of motion control against a disturbance.
  • FIG. 15 is a flow chart for illustrating an example of a processing procedure at the time of entering the escalator.
  • FIG. 16 ( a ) , FIG. 16 ( b ) , and FIG. 16 ( c ) are explanatory views of an enterable right-left range in which the escalator is enterable.
  • FIG. 17 is a flow chart for illustrating an example of a processing procedure at the time of exiting from the escalator.
  • an “added center-of-gravity position” refers to a center-of-gravity position obtained by adding up a center-of-gravity position of the moving device and a center-of-gravity position of the moving object X.
  • the center-of-gravity position of the moving object X can be set to, for example, a center-of-gravity position estimated by a center-of-gravity position estimation unit 32 ( FIG. 2 ) from a load of the moving object X applied to a seat sensor 24 installed on a placement portion 20 .
  • the center-of-gravity position of the moving device can be calculated as follows.
  • the weight, the center-of-gravity position, and the moment of inertia of each component forming the moving device are known. Accordingly, a relative positional relationship of the components is identified from a rotational angle of each of the actuators 15 to 18 , and the center-of-gravity position of each component is calculated from the identified positional relationship. Then, the center-of-gravity positions of the respective components are added up so that the center-of-gravity position of the moving device can be calculated.
  • boarding/landing area F 1 a boarding/landing area F on the entrance side of the escalator E
  • boarding/landing area F 2 a boarding/landing area F on the exit side of the escalator E
  • the “boarding area F 1 ” and the “landing area F 2 ” are relative concepts.
  • the lower boarding/landing area F is the boarding area F 1
  • the upper boarding/landing area F is the landing area F 2
  • the upper boarding/landing area F is the boarding area F 1
  • the lower boarding/landing area F is the landing area F 2 .
  • a leg portion 10 a on the left side in an advancing direction (hereinafter referred to as “left leg portion 10 a ”) includes a left upper link 11 a , a left lower link 12 a , a left intermediate wheel 13 a , a left end-portion wheel 14 a , a left first joint actuator 15 a , a left second joint actuator 16 a , a left third joint actuator 17 a , and a left end-portion wheel actuator 18 a.
  • the left intermediate wheel 13 a is arranged at a coupling position between the left upper link 11 a and the left lower link 12 a , and is rotatably coupled through use of a coupling tool used for the coupling between the left upper link 11 a and the left lower link 12 a .
  • the left intermediate wheel 13 a can also be provided at, in addition to the coupling position between the left upper link 11 a and the left lower link 12 a , a position on the left upper link 11 a side of the left lower link 12 a , a position on the left lower link 12 a side of the left upper link 11 a , or other positions.
  • the left end-portion wheel 14 a is rotatably coupled on the lower end side of the left lower link 12 a .
  • the left end-portion wheel 14 a is provided so that its bottom surface protrudes downward with respect to a lower end of the left lower link 12 a so as to be in contact with the ground surface (floor surface).
  • the left second joint actuator 16 a is drive means for driving the left lower link 12 a in the front-rear direction, and is provided at a coupling part between the left upper link 11 a and the left lower link 12 a .
  • the left lower link 12 a turns in the front-rear direction in response to the operation of the left second joint actuator 16 a.
  • the left third joint actuator 17 a is drive means for driving the left upper link 11 a in a right-left direction (inward/outward direction), and is provided at a coupling part between the left upper link 11 a and the left bracket 23 a .
  • the left upper link 11 a turns in the right-left direction in response to the operation of the left third joint actuator 17 a.
  • the left end-portion wheel actuator 18 a is drive means for driving the left end-portion wheel 14 a in a forward/reverse direction (front-rear direction), and is provided at a coupling part between the left lower link 12 a and the left end-portion wheel 14 a .
  • the left end-portion wheel 14 a rotates in the forward/reverse direction in response to the operation of the left end-portion wheel actuator 18 a .
  • the left intermediate wheel 13 a in this embodiment is brought into a free state so as to be rotated in the forward/reverse direction without an actuator.
  • a leg portion 10 b on the right side in the advancing direction (hereinafter referred to as “right leg portion 10 b ”) includes a right upper link 11 b , a right lower link 12 b , a right intermediate wheel 13 b , a right end-portion wheel 14 b , a right first joint actuator 15 b , a right second joint actuator 16 b , a right third joint actuator 17 b , and a right end-portion wheel actuator 18 b.
  • the right upper link 11 b has its upper end side rotatably coupled to a right bracket 23 b provided on the bottom surface of the chair portion 20
  • the right lower link 12 b has its upper end side rotatably coupled to the right upper link 11 b.
  • the right first joint actuator 15 b is drive means for driving the right upper link 11 b in the front-rear direction, and is provided at a coupling part between the right upper link 11 b and the right bracket 23 b .
  • the right upper link 11 b turns in the front-rear direction in response to the operation of the right first joint actuator 15 b.
  • the right second joint actuator 16 b is drive means for driving the right lower link 12 b in the front-rear direction, and is provided at a coupling part between the right upper link 11 b and the right lower link 12 b .
  • the right lower link 12 b turns in the front-rear direction in response to the operation of the right second joint actuator 16 b.
  • the right end-portion wheel actuator 18 b is drive means for driving the right end-portion wheel 14 b in the forward/reverse direction (front-rear direction), and is provided at a coupling part between the right lower link 12 b and the right end-portion wheel 14 b .
  • the right end-portion wheel 14 b rotates in the forward/reverse direction in response to the operation of the right end-portion wheel actuator 18 b .
  • the right intermediate wheel 13 b in this embodiment is brought into a free state so as to be rotated in the forward/reverse direction without an actuator.
  • the chair portion 20 is a part on which a person sits, and includes a seating portion 21 , a command operation portion 22 , and a coupling portion 23 .
  • the seating portion 21 allows a person to sit thereon.
  • the command operation portion 22 allows a person to input a control signal.
  • the coupling portion 23 allows the chair portion 20 to be coupled to the leg portion 10 .
  • the seating portion 21 includes a seat 21 a and a back rest 21 b .
  • the structure of the seating portion 21 may be other than this structure.
  • a seating portion 21 including the seat 21 a , the back rest 21 b , and a leg rest (not shown), a seating portion including only the seat 21 a and not including the back rest 21 b , a seating portion formed of only the seat 21 a and the leg rest, and the like can be employed.
  • a seat sensor 24 detects a person's load applied to the seat 21 a .
  • the outside world recognition sensor 25 recognizes an external situation (for example, presence or absence of stairs, an escalator, or an obstacle) around the moving device.
  • the inertial sensor 26 detects a translational motion or a rotational motion in orthogonal three-axis directions.
  • the coupling portion 23 is a part for coupling the two leg portions 10 .
  • the coupling portion 23 illustrated in FIG. 1 ( a ) and FIG. 1 ( b ) includes the left bracket 23 a and the right bracket 23 b which are provided in a protruding manner on the back surface side of the seat 21 a .
  • the left bracket 23 a couples the left leg portion 10 a
  • the right bracket 23 b couples the right leg portion 10 b .
  • the coupling portion 23 shown here is merely an example, and the configuration of the coupling portion 23 is not particularly limited as long as the coupling portion 23 can rotatably couple the two leg portions 10 .
  • the control unit 30 is means for controlling the actuators 15 to 18 , both the intermediate wheels 13 , and both the end-portion wheels 14 forming the leg portions 10 .
  • the control unit 30 can be formed of a computer including a processor, a memory, and the like as main configurations.
  • the determination unit 34 determines whether or not the stairs can be ascended or descended, whether or not the escalator is enterable, or the like based on the detection signal obtained by the outside world recognition sensor 25 .
  • the path generation unit 35 generates a moving path (pathway) before ascending or descending the stairs, before entering the escalator, before exiting from the escalator, or the like.
  • the theoretical motion calculation unit 36 calculates, based on the added center-of-gravity position, a theoretical operation which occurs when each of the actuators 15 to 18 is driven (hereinafter referred to as “theoretical motion”).
  • the motion estimation unit 37 estimates the actual motion from an actual motion obtained by the inertial sensor 26 .
  • control in a stationary state control at the time of moving forward, control at the time of moving backward, control at the time of turning, control of a posture in the front-rear direction at the time of ascending or descending stairs, control of a posture in the right-left direction at the time of ascending or descending stairs, control of a motion against a disturbance, posture control at the time of entering the escalator, posture control at the time of exiting from the escalator, posture control on the escalator, switching control from four wheels to two wheels, switching control from two wheels to four wheels, and the like are performed. Now, those types of control are specifically described.
  • the right and left end-portion wheels 14 are driven so that a position in the front-rear direction of the added center-of-gravity position and a position in the front-rear direction of the end-portion wheel ground-contact position of each of both the end-portion wheels 14 match each other.
  • a rotational angular speed of each of the right and left end-portion wheels 14 is controlled so that the rotational angular speed finally converges to zero.
  • the moving device drives the end-portion wheels 14 so that the position in the front-rear direction of the added center-of-gravity position is located on the rear side with respect to the end-portion wheel ground-contact position of each of both the end-portion wheels 14 .
  • a difference is caused between the added center-of-gravity position and the end-portion wheel ground-contact position of each of both the end-portion wheels 14 .
  • the end-portion wheels 14 are driven so that the position in the front-rear direction of the added center-of-gravity position is located on the rear side with respect to the position in the front-rear direction of the end-portion wheel ground-contact position of each of both the end-portion wheels 14 .
  • a difference is caused between the added center-of-gravity position and the end-portion wheel ground-contact position of each of both the end-portion wheels 14 .
  • the magnitude of this difference takes a value proportional to the magnitude of the command operation.
  • the rotational angular speed of each of the end-portion wheels 14 is controlled so that the rotational angular speed finally converges to zero, and the control in the stationary state is performed after the rotational angular speed of each of the end-portion wheels 14 comes close to around zero.
  • both the end-portion wheels 14 are driven so that a difference is caused in the number of revolutions of the right and left end-portion wheels 14 .
  • the magnitude of this difference takes a value proportional to the magnitude of the command operation of turning.
  • the number of revolutions of the left end-portion wheel 14 a is set so as to be larger than the number of revolutions of the right end-portion wheel 14 b .
  • the number of revolutions of the right end-portion wheel 14 b is set so as to be larger than the number of revolutions of the left end-portion wheel 14 a.
  • An average value of the numbers of revolutions of the right and left end-portion wheels 14 is set to match the number of revolutions of the end-portion wheels 14 which is based on the command operation of moving forward or moving backward at the time when a person performs the command operation of turning.
  • the average value of the numbers of revolutions of the right and left end-portion wheels 14 is set to zero.
  • Step S 008 As a result of the determination of Item (6), when it is determined that this path is passable, the moving device starts passing (ascending or descending) of the stairs (Step S 008 ).
  • a width W s of an upper space of each step ( FIG. 5 ( a ) ) is measured based on the shape of the stairs obtained by the outside world recognition sensor 25 (Step S 102 ).
  • Step S 103 Whether or not the moving device can pass the space of each step is determined based on whether or not W s ⁇ W b +2W m (Expression 1) is satisfied.
  • Step S 107 Whether or not the allowable center deviation value d th set in Item (1) and the center position deviation d si calculated in Item (6) satisfy d th ⁇ d si (Expression 3) is determined (Step S 107 ).
  • Step S 109 After the ground-contact position of each step is set to the center position C si of each step in Item (9), the person riding on the moving device is notified that the space is passable through the information display means (not shown) or the like (Step S 109 ).
  • the added center-of-gravity position also moves forward due to the movement of the raised left leg portion 10 a in the forward direction, and hence the right first joint actuator 15 b and the right second joint actuator 16 b of the unraised right leg portion 10 b are driven so that the end-portion wheel ground-contact position of the unraised right leg portion 10 b and the position in the front-rear direction of the moved added center-of-gravity position match each other.
  • the actuators 15 to 18 are driven based on a difference in height of the front and rear end-portion wheel ground-contact positions (end-portion wheel ground-contact position of the left end-portion wheel 14 a and end-portion wheel ground-contact position of the right end-portion wheel 14 b ) so that the heights of the chair portion 20 and the end-portion wheel 14 (end-portion wheel ground-contact position) are simultaneously changed by the amount of this height ( FIG. 7 ( b ) and FIG. 7 ( c ) ).
  • the heights of the chair portion 20 and the end-portion wheel 14 are not always required to be changed simultaneously, and a slight error may be provided.
  • the posture control in the front-rear direction of the moving device can also be performed through use of a counteracting force obtained when a weight such as a battery is moved in the front-rear direction, or can also be performed by installing a flywheel on the chair portion 20 so that a gyroscopic moment is used.
  • the control unit 30 determines which of both the leg portions 10 is to be raised in accordance with the path generated by the path generation unit 35 ( FIG. 8 ( a ) ).
  • a case of raising the right leg portion 10 b and thereafter raising the left leg portion 10 a is given as an example.
  • the left third joint actuator 17 a of the unraised left leg portion 10 a is driven so that the ground-contact position of the unraised left leg portion 10 a and the position in the right-left direction of the added center-of-gravity position match each other ( FIG. 8 ( b ) ).
  • the actuators 15 to 18 are driven based on a difference in height of the front and rear end-portion wheel ground-contact positions (end-portion wheel ground-contact position of the right end-portion wheel 14 b and end-portion wheel ground-contact position of the left end-portion wheel 14 a ) so that the heights of the chair portion 20 and the end-portion wheel 14 (end-portion wheel ground-contact position) are simultaneously changed by the amount of this height ( FIG. 9 ( b ) ).
  • the heights of the chair portion 20 and the end-portion wheel 14 are not always required to be changed simultaneously, and a slight error may be provided.
  • the posture control in the right-left direction of the moving device can also be performed through use of a counteracting force obtained when a weight such as a battery is moved in the right-left direction, or can also be performed by installing a flywheel on the chair portion 20 so that a gyroscopic moment is used.
  • the center-of-gravity position of the moving object (person) X is estimated from the detection signal obtained by the seat sensor 24 (Step S 201 ).
  • Step S 205 The theoretical motion calculated in Item (3) and the actual motion estimated in Item (4) are compared to each other, and whether or not there is a difference therebetween is determined.
  • Step S 206 When it is determined in Item (5) that there is a difference between the actual motion and the theoretical motion, it is determined that there is a disturbance corresponding to this difference, and the disturbance amount is estimated by the disturbance amount estimation unit 38 based on an amount of this difference (Step S 206 ).
  • a corrected drive amount of each of the actuators 15 to 18 is calculated by the corrected drive amount calculation unit 39 based on the estimated disturbance amount (Step S 207 ).
  • Step S 301 An outside world situation is recognized by the outside world recognition sensor 25 (Step S 301 ).
  • the recognition of the outside world situation performed by the outside world recognition sensor 25 is an operation which is always performed during movement using the moving device.
  • the shape of the escalator E (hereinafter referred to as “escalator shape”) is acquired by the outside world recognition sensor 25 (Step S 303 ).
  • the escalator shape includes, for example, in addition to the height and the width of the step Q, a width between right and left handrail portions of the escalator E, a distance in the front-rear direction of the stepless movement region, and the like.
  • Step S 304 When the escalator shape is acquired in Item (4), whether or not this escalator E is enterable is determined (Step S 304 ). In this embodiment, it is determined as “enterable” when the escalator shape can be recognized by the outside world recognition sensor 25 , and it is determined as “not enterable” when the escalator shape cannot be recognized by the outside world recognition sensor 25 .
  • Step S 311 When it is determined in Item (5) that the escalator E is not enterable, the moving device continues the planar movement (Step S 311 ).
  • this escalator shape is transmitted to the motion control unit 31 , and the fact that the escalator E is enterable is displayed on a display screen of the command operation portion 22 .
  • a button such as “getting on escalator” or the like can be given.
  • Step S 309 After the right/left position of the entering path is displayed in Item (11), it is determined whether or not there is an instruction on the right/left position of entering the escalator E from the command operation portion 22 (Step S 309 ). For example, when the selection buttons of “left,” “middle,” and “right” are displayed on the display screen, it can be determined that there is an instruction when any of the selection buttons is pressed within a certain time period, and it can be determined that there is no instruction when none of the selection buttons is pressed within the certain time period.
  • a range W a in the right-left direction in which the moving device can enter the escalator E (hereinafter referred to as “enterable right-left range W a ”) is identified so that the center of the moving device in the width direction can enter the escalator E from a position falling within the enterable right-left range W a .
  • the enterable right-left range W a can be identified by, for example, as illustrated in FIG. 16 ( a ) to FIG. 16 ( c ) , a horizontal width W i of the moving device, a width W s of the step Q of the escalator E, and right and left margins W m .
  • the method of identifying the enterable right-left range W a given here is merely an example, and the enterable right-left range W a can be identified by methods other than this method.
  • Both the intermediate wheels 13 in this embodiment are driven wheels (free rolls which rotate in accordance with the drive of both the end-portion wheels 14 ), and hence, when the moving device moving at a speed equal to the forward translational speed of the step Q moves to (enters) the step Q of the escalator E from the boarding area F 1 , the wheel speeds of both the intermediate wheels 13 become zero at the moment of getting on the step Q.
  • the position and the time at which the wheel speeds of both the intermediate wheels 13 become zero are identified as a boundary between the boarding area F 1 and the step Q, and coordinate values of the boundary (hereinafter referred to as “boarding area-side boundary coordinate values”) and an arrival time to the boarding area-side boundary coordinate values are acquired.
  • the wheel speeds are kept to be substantially equal to the forward translational speed of the step Q, but after both the end-portion wheels 14 are brought into contact with the step Q, the wheel speeds become zero.
  • the speed difference between the boarding area F 1 and the step Q can be absorbed.
  • the wheel speeds of both the end-portion wheels 14 are quickly controlled so that the wheel speeds are kept to zero. In this manner, the moving device can be moved at a speed equal to the forward translational speed of the step Q.
  • the forward translational speed of the step Q is estimated by the outside world recognition sensor 25 at the time of entering the escalator E, and the moving device enters the escalator E at this forward translational speed.
  • the estimated value obtained by the outside world recognition sensor 25 is not always correct, and, in some cases, the wheel speeds of both the intermediate wheels 13 which have entered the step Q do not become zero.
  • the outside world situation is recognized by the outside world recognition sensor 25 so that the escalator shape is acquired (Step S 401 ).
  • the recognition of the outside world situation performed by the outside world recognition sensor 25 is an operation which is always performed during movement using the moving device.
  • Step S 402 After the escalator shape is acquired by the outside world recognition sensor 25 , whether or not the exit of the escalator E is recognized is determined (Step S 402 ).
  • exiting path a moving path at the time of exiting from the escalator E (hereinafter referred to as “exiting path”) is generated by the path generation unit 35 (Step S 403 ). Specifically, a pathway from the ground-contact positions of both the intermediate wheels 13 and both the end-portion wheels 14 of the moving device to the landing area F 2 is generated as the exiting path. It is possible to generate only one pattern of exiting path, but, in this embodiment, two or more patterns are generated.
  • Both the intermediate wheels 13 in this embodiment are driven wheels, and hence, when both the intermediate wheels 13 move from the step Q to the landing area F 2 (exit from the step Q), the wheel speeds of both the intermediate wheels 13 are increased at the moment of arrival to the landing area F 2 .
  • the position and the time at which the wheel speeds of both the intermediate wheels 13 are increased are identified as a boundary between the step Q and the landing area F 2 , and coordinate values of the boundary (hereinafter referred to as “landing area-side boundary coordinate values”) and an arrival time to the landing area-side boundary coordinate values are acquired.
  • both the end-portion wheels 14 being drive wheels exit from the escalator E.
  • the drive torque is controlled by both the end-portion wheel actuators 18 so that the wheel speeds of both the end-portion wheels 14 become equal to the wheel speeds of both the intermediate wheels 13 when both the end-portion wheels 14 arrive at the boundary between the step Q and the landing area F 2 (position identified by the landing area-side boundary coordinate values). In this manner, the speed difference between the step Q and the landing area F 2 can be absorbed.
  • control methods used at the time of absorbing the speed difference described here are merely examples, and the speed difference between the boarding area F 1 and the step Q and the speed difference between the step Q and the landing area F 2 may be absorbed by control methods other than those methods.
  • posture control on the escalator E is described.
  • posture control under a state of four-wheel ground contact in which both the intermediate wheels 13 and both the end-portion wheels 14 of the right and left leg portions 10 are in contact with the ground, and further under a state in which the positions in the front-rear direction of both the intermediate wheels 13 match each other and the positions in the front-rear direction of both the end-portion wheels 14 match each other.
  • FIG. 18 ( a ) shows a state in which the moving device is positioned in the entrance-side stepless movement region E 1 of the ascending escalator E.
  • the moving device is riding on the escalator E under a state in which both the intermediate wheels 13 and both the end-portion wheels 14 straddle two steps Q, specifically, a state in which both the intermediate wheels 13 are in contact with a step Q on the front side in the traveling direction (hereinafter referred to as “first step Q 1 ”) and both the end-portion wheels 14 are in contact with a step Q following the first step Q 1 (hereinafter referred to as “second step Q 2 ”).
  • difference in height a height direction (hereinafter referred to as “difference in height”) between both the intermediate wheels 13 and both the end-portion wheels 14 .
  • difference in height a height direction
  • both the end-portion wheel actuators 18 are driven, and both the end-portion wheels 14 are controlled so that the ground-contact positions of both the intermediate wheels 13 and both the end-portion wheels 14 on the respective steps Q are prevented from moving due to the driving.
  • both the intermediate wheels 13 become higher than both the end-portion wheels 14 , and thus a difference in height is caused between both the intermediate wheels 13 and both the end-portion wheels 14 .
  • both the first joint actuators 15 and both the second joint actuators 16 are driven so that the placement portion 20 is maintained horizontal, and so that the position in the front-rear direction of the added center-of-gravity position is located at the midway between the end-portion wheel ground-contact position and the intermediate wheel ground-contact position. With this driving, the placement portion 20 is maintained horizontal.
  • Whether or not the difference in height (difference in relative position) between both the intermediate wheels 13 and both the end-portion wheels 14 has become very small can be determined from, for example, a current joint angle which is calculated based on the detection signal of the perpendicular direction, which is acquired by the inertial sensor 26 .
  • the added center-of-gravity position is calculated by the added center-of-gravity calculation unit 33 ( FIG. 2 ) from the detection signal obtained by the seat sensor 24 , and both the first joint actuators 15 and both the second joint actuators 16 are driven based on the calculated added center-of-gravity position.
  • the control is performed so that the position in the front-rear direction of the center of gravity of the moving device is always located at the midway between the end-portion wheel ground-contact position and the intermediate wheel ground-contact position.
  • the control method to be performed when there is a change in the added center-of-gravity position may be other than this method.
  • the position in the front-rear direction of the added center-of-gravity position can be changed by moving a weight such as a battery in the front-rear direction so that the change of the center-of-gravity position of the person riding on the moving device is compensated for.
  • the moving device is capable of switching from the state of four-wheel ground contact to the state of two-wheel ground contact.
  • the switching from the four-wheel ground contact to the two-wheel ground contact can be performed by, for example, a procedure illustrated in FIG. 11 ( a ) to FIG. 11 ( d ) .
  • FIG. 11 ( a ) shows a state in which four wheels of both the end-portion wheels 14 and both the intermediate wheels 13 are in contact with the ground-contact surface.
  • Both the end-portion wheels 14 are driven in a retreating direction under the state of FIG. 11 ( a ) so that the moving device is caused to perform a translational motion to the rear side (arrow direction of FIG. 11 ( a ) ).
  • the switching from the four-wheel ground contact to the two-wheel ground contact of the moving device according to this embodiment can also be performed by a procedure illustrated in FIG. 12 ( a ) to FIG. 12 ( e ) .
  • FIG. 12 ( a ) shows a state in which four wheels of both the end-portion wheels 14 and both the intermediate wheels 13 are in contact with the ground-contact surface.
  • both the second joint actuators 16 are driven so that the position in the front-rear direction of the added center-of-gravity position is moved forward within a range between the ground-contact position (intermediate wheel ground-contact position) of each of both the intermediate wheels 13 and the end-portion wheel ground-contact position of each of both the end-portion wheels 14 ( FIG. 12 ( a ) ).
  • both the first joint actuators 15 and both the second joint actuators 16 are driven. In this manner, the added center-of-gravity position in the front-rear direction is moved rearward ( FIG. 12 ( b ) ).
  • both the end-portion wheels 14 are driven so as to cancel out this motion to the rear side.
  • both the first joint actuators 15 and both the second joint actuators 16 are driven so that both the intermediate wheels 13 are raised from the ground-contact surface ( FIG. 12 ( c ) ).
  • FIG. 13 ( a ) shows a state in which the moving device is standing up (standing on its own feet) under a state in which both the end-portion wheels 14 are in contact with the ground-contact surface.
  • both the first joint actuators 15 and both the second joint actuators 16 are driven so that the height of the chair portion 20 is brought to a height close to the state of four-wheel ground contact ( FIG. 13 ( a ) and FIG. 13 ( b ) ).
  • both the first joint actuators 15 and both the second joint actuators 16 are driven so that both the intermediate wheels 13 are brought into contact with the ground at the same time as when the translational speed of the moving device becomes zero ( FIG. 13 ( e ) ).
  • the above-mentioned switching control is merely an example, and the switching from the four-wheel ground contact to the two-wheel ground contact and the switching from the two-wheel ground contact to the four-wheel ground contact can be controlled by methods other than those methods.
  • the above-mentioned embodiment gives an example of a moving device (chair-type moving device) for moving a person while having the person loaded thereon, but the moving device according to the present invention can also be used as a luggage moving device or the like for moving something other than a person, for example, luggage, while having the luggage loaded thereon.
  • a luggage loading portion on which the luggage can be loaded can be set as the placement portion 20 .
  • rotation of both or any one of both the end-portion wheels 14 is controlled so that the added center-of-gravity position and the end-portion wheel ground-contact position of any one of both the end-portion wheels 14 match each other.
  • the postures in the front-rear direction and the right-left direction of the moving device can be controlled at the time of remaining stationary, moving forward, moving backward, turning, switching from the four-wheel ground contact to the two-wheel ground contact, and switching from the two-wheel ground contact to the four-wheel ground contact.
  • the moving device gets on and off the escalator E under the state of four-wheel ground contact
  • the moving device according to the present invention can also get on and off the escalator E under the state of two-wheel ground contact in which both the end-portion wheels 14 a and 14 b are in contact with the ground.
  • the control of the translational speed of the moving device and the posture control are simultaneously performed, and hence the translational speed and the wheel speed do not match each other. Accordingly, the speed difference cannot be absorbed by simply controlling the wheel speed.
  • the translational speed of the moving device is controlled so as to be equal to the forward translational speed of the step Q at the time when both the end-portion wheels 14 arrive at the step Q, the moving device can be moved such that the speed relative to the step Q becomes zero.
  • the moving device regardless of whether the moving device is in the state of four-wheel ground contact or the state of two-wheel ground contact, the moving device can safely get on and off the escalator E while absorbing the speed difference between the step Q and the boarding/landing area F of the escalator E.
  • the moving device enters the escalator E or exits from the escalator E under a state in which positions in the front-rear direction of the right and left leg portions 10 , more specifically, both the end-portion wheels 14 are shifted from each other, and hence the above-mentioned control can be allowed to be performed for each of the right and left leg portions 10 (both the end-portion wheels 14 ).
  • the moving device according to the present invention can also be used as, in addition to the moving device for moving a person while having the person loaded thereon (chair-type moving device), a moving device for moving luggage or the like other than a person while having the luggage or the like loaded thereon (luggage moving device).

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EP4331777A4 (fr) 2025-03-05
EP4331777A1 (fr) 2024-03-06
JPWO2022230248A1 (fr) 2022-11-03
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CN116490324A (zh) 2023-07-25
JP2024019261A (ja) 2024-02-08
US20240293274A1 (en) 2024-09-05
US20250195301A1 (en) 2025-06-19
CN116490324B (zh) 2026-03-27
JP7538556B2 (ja) 2024-08-22

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